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<title>Repetier-Firmware: StepperDriver&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt; Class Template Reference</title>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="class_stepper_driver-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">StepperDriver&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt; Class Template Reference</div>  </div>
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<div class="contents">

<p><code>#include &lt;<a class="el" href="_drivers_8h_source.html">Drivers.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for StepperDriver&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_stepper_driver.png" usemap="#StepperDriver_3C_20stepPin_2C_20dirPin_2C_20enablePin_2C_20invertDir_2C_20invertEnable_20_3E_map" alt=""/>
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<area href="class_motor_driver_interface.html" alt="MotorDriverInterface" shape="rect" coords="0,0,402,24"/>
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 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a448a080f2b6d35fae6e66bb3d7af0386"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a448a080f2b6d35fae6e66bb3d7af0386">StepperDriver</a> (float _stepsPerMM, float speed)</td></tr>
<tr class="separator:a448a080f2b6d35fae6e66bb3d7af0386"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a543614e9c9b1027364b90e821487fa74"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a543614e9c9b1027364b90e821487fa74">initialize</a> ()</td></tr>
<tr class="separator:a543614e9c9b1027364b90e821487fa74"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad7a5451d7933609efbb0514614fcd381"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#ad7a5451d7933609efbb0514614fcd381">getPosition</a> ()</td></tr>
<tr class="separator:ad7a5451d7933609efbb0514614fcd381"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a44d4de4f1856f493e9e104072a382c74"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a44d4de4f1856f493e9e104072a382c74">setCurrentAs</a> (float newPos)</td></tr>
<tr class="separator:a44d4de4f1856f493e9e104072a382c74"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18057d0aea5eeb3089f63d935a4033be"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a18057d0aea5eeb3089f63d935a4033be">gotoPosition</a> (float newPos)</td></tr>
<tr class="separator:a18057d0aea5eeb3089f63d935a4033be"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b5e1652f108d13a62148de96277c4c1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a6b5e1652f108d13a62148de96277c4c1">enable</a> ()</td></tr>
<tr class="separator:a6b5e1652f108d13a62148de96277c4c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a896905a12fb4b0eaf3f466333bf1f310"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a896905a12fb4b0eaf3f466333bf1f310">disable</a> ()</td></tr>
<tr class="separator:a896905a12fb4b0eaf3f466333bf1f310"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87bb6f71ca03f748b7c5bf11da569331"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a87bb6f71ca03f748b7c5bf11da569331">home</a> (bool goToCurrent, bool onlyIfNotHomed)</td></tr>
<tr class="separator:a87bb6f71ca03f748b7c5bf11da569331"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a1d13e0cfb4fb994865b87ede30fe88e0"><td class="memItemLeft" align="right" valign="top">int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a1d13e0cfb4fb994865b87ede30fe88e0">position</a></td></tr>
<tr class="separator:a1d13e0cfb4fb994865b87ede30fe88e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3652ed06a18e38715b26346a2ec5ee20"><td class="memItemLeft" align="right" valign="top">int32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#a3652ed06a18e38715b26346a2ec5ee20">delayUS</a></td></tr>
<tr class="separator:a3652ed06a18e38715b26346a2ec5ee20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae838bcd42cf03702990df0e65c1e65c8"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stepper_driver.html#ae838bcd42cf03702990df0e65c1e65c8">stepsPerMM</a></td></tr>
<tr class="separator:ae838bcd42cf03702990df0e65c1e65c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt;<br />
class StepperDriver&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;</h3>

<p>Simple class to drive a stepper motor with fixed speed. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a448a080f2b6d35fae6e66bb3d7af0386"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a448a080f2b6d35fae6e66bb3d7af0386">&#9670;&nbsp;</a></span>StepperDriver()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::<a class="el" href="class_stepper_driver.html">StepperDriver</a> </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>_stepsPerMM</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>speed</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a896905a12fb4b0eaf3f466333bf1f310"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a896905a12fb4b0eaf3f466333bf1f310">&#9670;&nbsp;</a></span>disable()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::disable </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#a456be25e18f028ff5dae9264228dc550">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="a6b5e1652f108d13a62148de96277c4c1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6b5e1652f108d13a62148de96277c4c1">&#9670;&nbsp;</a></span>enable()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::enable </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#a69e7c7b822bcc7914a155249da4aa59d">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="ad7a5451d7933609efbb0514614fcd381"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad7a5451d7933609efbb0514614fcd381">&#9670;&nbsp;</a></span>getPosition()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::getPosition </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#a3b61d203b4351ea4c132495aeb817086">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="a18057d0aea5eeb3089f63d935a4033be"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a18057d0aea5eeb3089f63d935a4033be">&#9670;&nbsp;</a></span>gotoPosition()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::gotoPosition </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>newPos</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#add1af7909fcd39986d3667a533764c5b">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="a87bb6f71ca03f748b7c5bf11da569331"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a87bb6f71ca03f748b7c5bf11da569331">&#9670;&nbsp;</a></span>home()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::home </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>goToCurrent</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>onlyIfNotHomed</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#a53344d16c0bb4c6c90ae7b85369eb861">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="a543614e9c9b1027364b90e821487fa74"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a543614e9c9b1027364b90e821487fa74">&#9670;&nbsp;</a></span>initialize()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::initialize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#a251d0070d19b61290d73f26d1f6e4501">MotorDriverInterface</a>.</p>

</div>
</div>
<a id="a44d4de4f1856f493e9e104072a382c74"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a44d4de4f1856f493e9e104072a382c74">&#9670;&nbsp;</a></span>setCurrentAs()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::setCurrentAs </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>newPos</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implements <a class="el" href="class_motor_driver_interface.html#aa930597d7cc15c14079b27e693727115">MotorDriverInterface</a>.</p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a3652ed06a18e38715b26346a2ec5ee20"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3652ed06a18e38715b26346a2ec5ee20">&#9670;&nbsp;</a></span>delayUS</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">int32_t <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::delayUS</td>
        </tr>
      </table>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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</div><div class="memdoc">

</div>
</div>
<a id="a1d13e0cfb4fb994865b87ede30fe88e0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1d13e0cfb4fb994865b87ede30fe88e0">&#9670;&nbsp;</a></span>position</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">int32_t <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::position</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
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</div><div class="memdoc">

</div>
</div>
<a id="ae838bcd42cf03702990df0e65c1e65c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae838bcd42cf03702990df0e65c1e65c8">&#9670;&nbsp;</a></span>stepsPerMM</h2>

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template&lt;int stepPin, int dirPin, int enablePin, bool invertDir, bool invertEnable&gt; </div>
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          <td class="memname">float <a class="el" href="class_stepper_driver.html">StepperDriver</a>&lt; stepPin, dirPin, enablePin, invertDir, invertEnable &gt;::stepsPerMM</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>src/ArduinoAVR/Repetier/<a class="el" href="_drivers_8h_source.html">Drivers.h</a></li>
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    <li class="navelem"><a class="el" href="class_stepper_driver.html">StepperDriver</a></li>
    <li class="footer">Generated on Tue Sep 19 2017 18:54:02 for Repetier-Firmware by
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